Arithmetic Device for External-Sensor Route Planning
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Solution Overview
Problem
Existing technologies face challenges in generating wide area trajectory data for moving objects like forklifts when target objects are not at predetermined positions, leading to high calculation loads, delayed work, and inaccurate sensing due to sensor resolution and azimuth angle issues.
Innovation Solution
An arithmetic device that acquires position and orientation information of target objects from sensors outside the moving object, sets a path to reach a predetermined position and orientation relative to the target object, and outputs this path to the moving object.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If trajectory data is generated in advance based on map data, then the moving object can navigate to a predetermined position, but it cannot adapt when the target object is not at the predetermined position
Solution Approach 1:
The system performs preliminary actions by generating wide area trajectory data in advance to a second set position (an intermediate position) where the sensor becomes effective. This preliminary trajectory allows the forklift to efficiently reach the vicinity of the target object without requiring complete real-time calculation, while still enabling adaptation when the target position varies.
Solution Approach 2:
The patent introduces a second set position as an intermediary concept between the first set position (predetermined position) and the actual target object position. This intermediary position serves as a transition point where the forklift switches from pre-generated trajectory data to sensor-based trajectory generation, enabling both efficiency and adaptability.
2Adaptability or versatility
If the forklift uses its own sensor to detect the target object and generate trajectory, then it can adapt to any position, but the calculation load increases and work is delayed
Solution Approach 1:
The system performs preliminary navigation to the second set position using pre-generated trajectory data before activating the sensor-based detection and trajectory generation. This preliminary action reduces the overall calculation time by limiting real-time sensor processing to only the final approach phase rather than the entire trajectory.
Solution Approach 2:
The trajectory generation process is segmented into two distinct phases: (1) wide area navigation to the second set position using pre-generated map-based trajectory data, and (2) final approach to the target object using sensor-based trajectory generation. This segmentation reduces the computational burden on the forklift's onboard system.
3Measurement precision
If a sensor on the moving object is used to detect the target object, then the system can adapt to varying positions, but the sensor resolution and azimuth angle limit detection accuracy
Solution Approach 1:
The patent introduces a fixed installation sensor as an intermediary detection device between the forklift and the target object. This external sensor provides high-precision detection of the target object's position and orientation, which is then used by the forklift's control device to generate accurate trajectory data, overcoming the limitations of onboard sensor resolution and azimuth angle.
Data Source
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AI summary
An arithmetic device (14) is configured to output information to a moving object (10) that automatically moves. The arithmetic device includes: a target object information acquisition unit (54) configured to acquire, from a sensor (16) provided in a place other than to the moving object (10), a detection result of position information of a target object (P), the position information being information related to position and orientation of the target object (P); a route setting unit (56) configured to set, based on the position information of the target object (P), a route (R) to a target position (AR1) at which predetermined position and orientation relative to the target object (P) are reached; and an information output unit (60) configured to output information of the route (R) to the moving object (10).